import sched
from threading import Thread
import json

from redis import Redis

from control.walle import WallE
from control.camera import Camera

INTERVAL_TICK = 0.05  # 20/s
INTERVAL_IMAGE = 0.05  # 20/s


class EventListener(Thread):
    def __init__(self):
        super(EventListener, self).__init__()
        self.dbcon = Redis()
        self.pubsub = self.dbcon.pubsub()
        self.pubsub.subscribe(['move', 'look'])

    def run(self) -> None:
        for item in self.pubsub.listen():
            channel = item['channel'].decode()
            data = item['data']
            if not isinstance(data, bytes):
                print(f"Channel {channel} got message that is not bytes {data}")
                continue
            try:
                self.handle_message(channel, data)
            except ValueError:
                pass  # todo

    def handle_message(self, channel: str, data: bytes):
        data_dict = json.loads(data.decode())
        if channel == 'move':
            walle.set_movement(data_dict['angle'], data_dict['force'])
        elif channel == 'look':
            walle.set_eye_velocity(data_dict['angle'], data_dict['force'])
        else:
            print(f'Unknown channel {channel}')


scheduler = sched.scheduler()
camera = Camera()
walle = WallE()
walle.setup()


def walle_tick():
    scheduler.enter(INTERVAL_TICK, 1, walle_tick)
    walle.tick()


def camera_image():
    scheduler.enter(INTERVAL_IMAGE, 1, camera_image)
    image = camera.get_image()
    redisdb.publish('image', image)


scheduler.enter(INTERVAL_TICK, 1, walle_tick)
scheduler.enter(INTERVAL_IMAGE, 1, camera_image)

if __name__ == '__main__':
    redisdb = Redis()
    event_listener = EventListener()
    event_listener.start()
    scheduler.run()